From df7d0d94ecc69fa9aadd2ab90db89b5ef1a74030 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 29 Apr 2010 23:03:56 +0200 Subject: digital/mimot/src/dirty: add copy/pasted firmware for mimot, refs #123 This is a quick and dirty firmware copied from asserv. This will be improved once #124 is closed. --- digital/mimot/src/dirty/pwm.avr.c | 57 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 57 insertions(+) create mode 100644 digital/mimot/src/dirty/pwm.avr.c (limited to 'digital/mimot/src/dirty/pwm.avr.c') diff --git a/digital/mimot/src/dirty/pwm.avr.c b/digital/mimot/src/dirty/pwm.avr.c new file mode 100644 index 00000000..37ec34b0 --- /dev/null +++ b/digital/mimot/src/dirty/pwm.avr.c @@ -0,0 +1,57 @@ +/* pwm.avr.c - Handle all PWM generators. */ +/* asserv - Position & speed motor control on AVR. {{{ + * + * Copyright (C) 2005 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ +#include "common.h" +#include "pwm.h" +#include "pwm_ocr.avr.h" + +/** PWM control states. */ +struct pwm_t pwm_aux[AC_ASSERV_AUX_NB] = { + PWM_INIT_FOR (pwm_aux0), PWM_INIT_FOR (pwm_aux1) +}; +/** PWM reverse directions. */ +uint8_t pwm_reverse; + +/** Initialise PWM generators. */ +void +pwm_init (void) +{ + pwm_ocr_init (); +} + +/** Update the hardware PWM values. */ +void +pwm_update (void) +{ + pwm_ocr_update (); +} + +/** Set which PWM is reversed. */ +void +pwm_set_reverse (uint8_t reverse) +{ + pwm_reverse = reverse; + pwm_ocr_set_reverse (reverse); +} + -- cgit v1.2.3